def formatParameters(rVec, tVec, linearCoeffs, distCoeffs):
params = Parameters()
if prod(rVec.shape) == 9:
rVec = Rodrigues(rVec)[0]
rVec = rVec.reshape(3)
for i in range(3):
params.add('rvec%d'%i,
value=rVec[i], vary=True)
params.add('tvec%d'%i,
value=tVec[i], vary=True)
# image center
params.add('cameraMatrix0',
value=linearCoeffs[0], vary=False)
params.add('cameraMatrix1',
value=linearCoeffs[1], vary=False)
# l and m
params.add('distCoeffs0',
value=distCoeffs[0], vary=False)
params.add('distCoeffs1',
value=distCoeffs[1], vary=False)
return params
def formatParameters(rVec, tVec, linearCoeffs, distCoeffs):
params = Parameters()
if prod(rVec.shape) == 9:
rVec = Rodrigues(rVec)[0]
rVec = rVec.reshape(3)
for i in range(3):
params.add('rvec%d'%i,
value=rVec[i], vary=True)
params.add('tvec%d'%i,
value=tVec[i], vary=True)
params.add('cameraMatrix0',
value=linearCoeffs[0,0], vary=False)
params.add('cameraMatrix1',
value=linearCoeffs[1,1], vary=False)
params.add('cameraMatrix2',
value=linearCoeffs[0,2], vary=False)
params.add('cameraMatrix3',
value=linearCoeffs[1,2], vary=False)
for i in range(4):
params.add('distCoeffs%d'%i,
value=distCoeffs[i,0], vary=False)
return params
def formatParameters(rVec, tVec, linearCoeffs, distCoeffs):
'''
puts all intrinsic and extrinsic parameters in Parameters() format
if there are several extrinsica paramters they are correctly
Inputs
rVec, tVec : arrays of shape (n,3,1) or (3,1)
distCoeffs must have be reshapable to (5)
'''
params = Parameters()
if prod(rVec.shape) == 9:
rVec = Rodrigues(rVec)[0]
rVec = rVec.reshape(3)
for i in range(3):
params.add('rvec%d'%i,
value=rVec[i], vary=False)
params.add('tvec%d'%i,
value=tVec[i], vary=False)
if len(rVec.shape)==3:
for j in range(len(rVec)):
for i in range(3):
params.add('rvec%d%d'%(j,i),
value=rVec[j,i,0], vary=False)
params.add('tvec%d%d'%(j,i),
value=tVec[j,i,0], vary=False)
params.add('fX',
value=linearCoeffs[0,0], vary=False)
params.add('fY',
value=linearCoeffs[1,1], vary=False)
params.add('cX',
value=linearCoeffs[0,2], vary=False)
params.add('cY',
value=linearCoeffs[1,2], vary=False)
# (k1,k2,p1,p2[,k3[,k4,k5,k6[,s1,s2,s3,s4[,τx,τy]]]])
distCoeffs = distCoeffs.reshape(5)
for i in range(5):
params.add('distCoeffs%d'%i,
value=distCoeffs[i], vary=False)
return params
def formatParameters(rVec, tVec, linearCoeffs, distCoeffs):
'''
puts all intrinsic and extrinsic parameters in Parameters() format
if there are several extrinsica paramters they are correctly
Inputs
rVec, tVec : arrays of shape (n,3,1) or (3,1)
distCoeffs must have be reshapable to (5)
'''
params = Parameters()
if prod(rVec.shape) == 9:
rVec = Rodrigues(rVec)[0]
rVec = rVec.reshape(3)
for i in range(3):
params.add('rvec%d' % i, value=rVec[i], vary=False)
params.add('tvec%d' % i, value=tVec[i], vary=False)
if len(rVec.shape) == 3:
for j in range(len(rVec)):
for i in range(3):
params.add('rvec%d%d' % (j, i),
value=rVec[j, i, 0],
vary=False)
params.add('tvec%d%d' % (j, i),
value=tVec[j, i, 0],
vary=False)
params.add('fX', value=linearCoeffs[0, 0], vary=False)
params.add('fY', value=linearCoeffs[1, 1], vary=False)
params.add('cX', value=linearCoeffs[0, 2], vary=False)
params.add('cY', value=linearCoeffs[1, 2], vary=False)
# (k1,k2,p1,p2[,k3[,k4,k5,k6[,s1,s2,s3,s4[,τx,τy]]]])
distCoeffs = distCoeffs.reshape(5)
for i in range(5):
params.add('distCoeffs%d' % i, value=distCoeffs[i], vary=False)
return params